CN111572734A

CN111572734A - Autonomous stabilization and automatic regulation system for attitude of seabed connection platform

Info

Publication number: CN111572734A
Application number: CN202010406159.9A
Authority: CN
Inventors: 林婕; 羊云石; 顾海东; 程烨; 章远香; 董彦涛
Original assignee: 715th Research Institute of CSIC
Current assignee: 715th Research Institute of CSIC
Priority date: 2020-05-14
Filing date: 2020-05-14
Publication date: 2020-08-25

Abstract

The invention discloses an autonomous stabilization and automatic regulation system for the attitude of a seabed docking platform, which comprises a docking cylinder, a pitching mechanism, an attitude sensor assembly, a pitching driving device and a base, wherein the docking cylinder is arranged on the pitching mechanism, and the pitching mechanism is arranged on the base and can rotate around a rotating shaft; the pitching driving device is connected with the pitching mechanism and used for adjusting the posture of the receiving cylinder. The invention has the beneficial effects that: the invention effectively solves the problems of underwater shock resistance, autonomous and stable posture and automatic adjustment of the docking station. The docking platform is stably seated on the seabed, when the underwater vehicle enters the docking port, collision and impact are generated on the docking port, and the angle of the docking port cannot meet the use requirement; through a special mechanism and a sensing control system, the attitude of the connection port at the seabed can be automatically adjusted, and the success rate of butt joint is improved.

Description

Autonomous stabilization and automatic regulation system for attitude of seabed connection platform

Technical Field

The invention relates to the field of submarine connection stations, in particular to a submarine connection platform attitude autonomous stabilization and automatic regulation system.

Background

The seabed docking station is one of the nodes of the seabed observation network and provides a platform for energy supplement and information exchange with the underwater mobile platform. The change of the topography and the ocean current of the seabed is complex, and the stability and the connection channel of the connection station during seabed arrangement may not meet the requirements of seabed arrangement and connection. The docking platform needs to be automatically stabilized and automatically adjusted in posture, and the environmental adaptability of the arrangement and the reliability of docking are improved.

At present, with the continuous development and application of domestic underwater operation, the submarine docking station has wide application as a submarine observation network node. Aiming at the seabed attitude control technology of the docking platform, corresponding research is not published in China, and related patents are few. The seabed docking station developed by Remus corporation of America adopts a containing type docking technology, has small and exquisite structural size and fixed seabed posture, and is only suitable for small AUV. In order to adapt to complex marine environment and large-scale aircraft docking, a seabed docking platform which can resist impact, is stable autonomously and is adjusted automatically needs to be designed.

Disclosure of Invention

The invention aims to overcome the problems or weak links in the prior art, provides an autonomous stabilization and automatic regulation system for the attitude of a submarine connection platform, solves the problems of station-entering impact of an underwater vehicle, influence of ocean current on the submarine connection platform, uneven bottom surface of the seabed and the like on connection success rate, and has the advantages of simple structure, easiness in implementation and reliable function.

The object of the present invention is achieved by the following technical means. A seabed docking platform attitude autonomous stabilization and automatic regulation system comprises a docking cylinder, a pitching mechanism, an attitude sensor assembly, a pitching driving device and a base, wherein the docking cylinder is installed on the pitching mechanism, and the pitching mechanism is installed on the base and can rotate around a rotating shaft; the pitching driving device is connected with the pitching mechanism and used for adjusting the posture of the receiving cylinder.

Furthermore, the butt joint barrel comprises a lath, a circular ring and a guide sleeve, the lath and the circular ring form the shape of a horn-shaped head, and two sides inside the guide sleeve are provided with guide grooves.

Furthermore, the attitude sensor assembly comprises a camera, an in-place sensor and an electronic compass, the camera is installed on the base, the in-place sensor is installed at a guide groove of the butt joint barrel, and the electronic compass is installed on the butt joint barrel.

Furthermore, every single move mechanism include every single move pole, balancing weight and mount pad, every single move pole supports and enables at the base top and rotate around the rotation axis, and the balancing weight is installed and is used for lowering the focus in the bottom of every single move pole 1, and the mount pad is used for supporting and fixed butt joint section of thick bamboo.

Furthermore, the pitching driving device comprises two sets of mechanisms arranged at the bottom of the base, the two sets of mechanisms are respectively arranged at two sides of the pitching mechanism, each set of mechanism comprises a watertight motor, a chain, a winch and a bracket, the watertight motor drives the winch and drives the pitching mechanism through the chain, and when the two sets of mechanisms are distributed on the seabed for a long time, the chains are loosened; during pitching, one set of mechanism loosens the chain, and the other set of mechanism tightens the chain.

Furthermore, the base is of a tetrahedron structure and comprises a supporting seat, a supporting ring at the top, a rotating shaft and a rubber pad, the base supports the pitching mechanism through the rotating shaft, and the rubber pad is arranged in the supporting ring and used for limiting and buffering the pitching mechanism.

The invention has the beneficial effects that: the invention effectively solves the problems of underwater shock resistance, autonomous and stable posture and automatic adjustment of the docking station. The docking platform is stably seated on the seabed, when an underwater vehicle enters the docking port, collision and impact are generated on the docking port, the platform can overturn, in addition, the influence of ocean current and uneven landform is exerted, and the angle of the docking port cannot meet the use requirement; through a special mechanism and a sensing control system, the attitude of the connection port at the seabed can be automatically adjusted, and the success rate of butt joint is improved.

Drawings

FIG. 1 is an assembled front view of the present invention;

FIG. 2 is an assembled top view of the present invention;

FIG. 3 is a schematic view of a docking pod of the present invention;

FIG. 4 is a schematic view of a pitch mechanism in the present invention;

FIG. 5 is a schematic view of a pitch drive of the present invention;

fig. 6 is a schematic view of the connection attitude adjustment in the present invention;

fig. 7 is a schematic diagram of the working principle of the underwater motor pitching technology of the invention.

Description of reference numerals: the butt joint barrel 1, the lath 11, the ring 12, the guide sleeve 13, the guide groove 14, the camera 21, the in-position sensor 22, the electronic compass 23, the pitching mechanism 3, the pitching rod 31, the balancing weight 32, the mounting seat 33, the base 4, the rotating shaft 41, the supporting seat 42, the supporting ring 43, the rubber pad 44, the pitching driving device 5, the watertight motor 51, the winch 52, the chain 53 and the bracket 54.

Detailed Description

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

When the seabed docking platform is arranged underwater, the attitude of the seabed docking platform is influenced by ocean currents and seabed inclination, and the pitch angle of the seabed docking platform can change. In order to improve the success rate of the docking platform and the AUV, the pitch angle of the bell mouth of the docking platform needs to be adjusted and controlled. The system is used in a connection platform system of a seabed connection device, realizes safe arrangement of the seabed connection platform for a long time and reliable connection between the AUV and the seabed connection platform, and thus realizes signal transmission. The invention can be widely applied to civil and military facilities such as a submarine observation network, a deep sea space station and the like.

As shown in fig. 1 and fig. 2, the autonomous stabilization and automatic adjustment system for the attitude of the seabed docking platform of the present invention comprises a docking cylinder 1, a pitching mechanism 3, an attitude sensor assembly, a pitching driving device 5 and a base 4, wherein the docking cylinder 1 is mounted on the pitching mechanism 3 and rigidly connected, and the pitching mechanism 3 is mounted on the base 4 and can rotate around a rotating shaft 41; the pitching driving device 5 is connected with the pitching mechanism 3 and is used for adjusting the posture of the receiving cylinder 1. The base 4 is of a tetrahedron structure and comprises a three-point supporting seat 42, a supporting ring 43 at the top, a rotating shaft 41 and a rubber pad 44, the base 4 supports the pitching mechanism 3 through the rotating shaft 41, and the rubber pad 44 is arranged in the supporting ring 43 and used for limiting and buffering the pitching mechanism. The attitude sensor component comprises a camera 21, an in-place sensor 22 and an electronic compass 23, wherein the camera 21 is arranged on the base 4, and the electronic compass 23 is arranged on the docking barrel 1.

As shown in fig. 3, the docking cylinder 1 includes slats 11, rings 12 and guide sleeves 13, the docking cylinder 1 is in a bell mouth shape, and the intercepting area can be effectively increased through the bell mouth formed by connecting 16 slats 11 and three rings 12. The inner surface of the guide sleeve 13 is smooth, and the overall dimension of the formed frame is capable of preventing clamping stagnation caused by the entry of the AUV. Guide grooves 14 are formed in two sides inside the guide sleeve 13 and can guide the AUV into the butting barrel 1, and in-place sensors 22 are arranged at the guide grooves 14 and can sense whether the AUV is in place or not.

As shown in fig. 4, the pitching mechanism 3 includes a pitching rod 31, a counterweight 32 and a mounting base 33, the pitching rod 31 is supported on the top of the base 4 to rotate around a rotating shaft 41, and the counterweight 32 is mounted on the bottom of the pitching rod 31, so as to effectively lower the center of gravity and realize self-stabilization of the swaying posture. The mount 33 is used to support and fix the docking pod 1. The pitch mechanism 3 and the docking drum 1 are rotatable together on the base 4 about the rotation axis 41.

As shown in fig. 5, the pitch driving device 5 includes two sets of mechanisms installed at the bottom of the base 4, the two sets of mechanisms are respectively installed at two sides of the pitch mechanism 3, each set of mechanism includes a watertight motor 51, a chain 53, a winch 52 and a bracket 54, the watertight motor 51 drives the winch 52 and drives the pitch mechanism 3 through the chain 53, and when the two sets of mechanisms are deployed on the seabed for a long time, the chains are loosened; during pitching, one set of mechanism loosens the chain, and the other set of mechanism tightens the chain. The pitching driving device can drive the chain to realize the control and adjustment of the pitching angle of the docking barrel.

The specific implementation process of the invention is as follows:

1. when the connection platform is arranged on the seabed for a long time, the chains 53 on the two pitching driving devices 5 are loosened, and the pitching mechanisms 3 are ensured to be in a free rotatable state.

2. When the posture of the docking platform is not good and docking is difficult, the docking platform acquires the platform laying state through the camera 21 and the electronic compass 23, and when the docking cylinder 1 is judged to need posture adjustment, the pitching driving device 5 drives the winch 52 to rotate through rotation of the watertight motor 51 under the control of the single chip microcomputer, so that the chain 53 is driven to tighten or loosen the pitching mechanism 3. The pitching driving devices 5 are provided with two sets, and the postures of the connecting cylinders 1 can be adjusted by combined use until the requirements of the butting postures are met.

Fig. 6 is a schematic view of the attitude adjustment of the pitching mechanism 3 according to the present invention.

The operation principle of the watertight motor pitching technology is shown in fig. 7, a rotary encoder arranged at the rear end of the watertight motor inputs rotation speed information into a singlechip integration module to obtain the rotation speed and the rotation angle information of the watertight motor, and the rotation speed and the rotation angle information are converted into the rotation of a winch. The singlechip movement control module controls the motor driver through a pulse signal. When the pitch angle signal reaches a predetermined value, the watertight motor is stopped. The singlechip monitors the current of the motor in real time in the whole pitching process, and motor overload caused by overlarge stress or clamping stagnation is prevented.

It should be understood that equivalent substitutions and changes to the technical solution and the inventive concept of the present invention should be made by those skilled in the art to the protection scope of the appended claims.

Claims

1. The utility model provides a seabed platform gesture of plugging into is independently stable and automatic regulating system which characterized in that: the device comprises a butt joint cylinder (1), a pitching mechanism (3), an attitude sensor assembly, a pitching driving device (5) and a base (4), wherein the butt joint cylinder (1) is installed on the pitching mechanism (3), and the pitching mechanism (3) is installed on the base (4) and can rotate around a rotating shaft (41); the pitching driving device (5) is connected with the pitching mechanism (3) and is used for adjusting the posture of the connecting cylinder (1).

2. The autonomous attitude stabilization and automatic adjustment system for a subsea docking platform according to claim 1, characterized in that: the butt joint barrel (1) comprises a lath (11), a circular ring (12) and a guide sleeve (13), the lath (11) and the circular ring (12) form the shape of a horn-shaped head, and two sides in the guide sleeve (13) are provided with guide grooves (14).

3. The autonomous attitude stabilization and automatic adjustment system for a subsea docking platform according to claim 1, characterized in that: the attitude sensor component comprises a camera (21), an in-place sensor (22) and an electronic compass (23), wherein the camera (21) is installed on the base (4), the in-place sensor (22) is installed at a guide groove (14) of the butt joint barrel (1), and the electronic compass (23) is installed on the butt joint barrel (1).

4. The autonomous attitude stabilization and automatic adjustment system for a subsea docking platform according to claim 1, characterized in that: every single move mechanism (3) including every single move pole (31), balancing weight (32) and mount pad (33), every single move pole (31) support make can rotate around rotation axis (41) at base (4) top, balancing weight (32) are installed and are used for reducing the focus in the bottom of every single move pole (31), mount pad (33) are used for supporting and fixed butt joint section of thick bamboo (1).

5. The autonomous attitude stabilization and automatic adjustment system for a subsea docking platform according to claim 1, characterized in that: the pitching driving device (5) comprises two mechanisms arranged at the bottom of the base (4), the two mechanisms are respectively arranged at two sides of the pitching mechanism (3), each mechanism comprises a watertight motor (51), a chain (53), a winch (52) and a support (54), the watertight motor (51) drives the winch (52) and drives the pitching mechanism (3) through the chain (53), and when the seabed is distributed for a long time, the chains of the two mechanisms are loosened; during pitching, one set of mechanism loosens the chain, and the other set of mechanism tightens the chain.

6. The autonomous attitude stabilization and automatic adjustment system for a subsea docking platform according to claim 1, 3 or 4, characterized in that: the base (4) be the tetrahedron structure, constitute by supporting seat (42), support ring (43), rotation axis (41) and rubber pad (44) at top, base (4) support every single move mechanism (3) through rotation axis (41), rubber pad (44) are equipped with to support ring (43) inside for the spacing and the buffering of every single move mechanism.